Computer-assisted tele-operated surgery systems and methods

A medical system comprising:

• a surgical instrument comprising:
• a handle;
• a shaft having a proximal end portion and a distal end portion;
• an end effector movably coupled to the distal end portion;
• one or more cables coupled to the end effector and extending along the shaft;
• and
• a plurality of actuator engagement members respectively coupled to the one or more cables, wherein movements of the actuator engagement members cause motions of the end effector;
• and
• a surgical instrument drive unit operably coupled to a manipulator arm of a robotic surgery system and defining an opening and a space along a longitudinal axis of the surgical instrument drive unit, wherein the opening and the space slidably receive the shaft of the surgical instrument as the surgical instrument is releasably coupled with the surgical instrument drive unit, the surgical instrument drive unit comprising:
• a plurality of actuators, each of the actuators being releasably coupled with one of the actuator engagement members while the surgical instrument is coupled with the surgical instrument drive unit, the actuators being controllable to drive the movements of the actuator engagement members that cause the motions of the end effector;
• and
• a shaft insertion actuator releasably coupleable with the surgical instrument, the shaft insertion actuator being controllable to force the shaft of the surgical instrument to distally extend along the longitudinal axis relative to the surgical instrument drive unit,
• wherein the one or more cables coupled to the end effector are controllable to force the shaft of the surgical instrument to proximally retract along the longitudinal axis relative to the surgical instrument drive unit.